| Summary: | 碩士 === 國立臺灣大學 === 應用力學研究所 === 85 === In this thesis, the Global Positioning System(GPS), electronic compass,
wireless data-link and fuzzy controller are integrated to achieve the
objective of automatic navigation and control system design of a model
car. The attitude and the position of the model car are obtained via
compass and KGPS(Kinematic GPS), respectively. A reference station is
located at a precisely serveyed location, while the model car is equipped
with a moving station. The position of the model car in WGS-84 is
transformed into a plane coordinate. The fuzzy controller takes the
attitude angle and the plane coordinates as input. After comparing with
the desired path, the controller computes the required corrections for
the speed and steering of the car in real time. These correction
information are then transmitted to the moving ststion via a radio modem.
Meanwhile, the 386 single-board computer on the model car sends the
instruction of speed and steering angle correction to the single-chip
microprocessor 8051. The single-chip will drive the stepping motor and
servo motor to adjust the speed and steering angle of the model car,
respectively, and make it move along the planned path. The experimental
results show that the errors of the actual path from the desired path
are within 50 centimeters.
|
|---|
